updated tests

ctu-mrs · Feb 11, 2024 · 1d0f3eb · 1d0f3eb
1 parent 42a7032
commit 1d0f3eb
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Showing 4 changed files with 53 additions and 14 deletions.
diff --git a/test/compile_tests.sh b/test/compile_tests.sh
@@ -6,5 +6,5 @@ trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
 # build the package
-catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --this -DMRS_ENABLE_TESTING=1 --no-deps # it has to be fully built normally before building with --catkin-make-args tests
 catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps --catkin-make-args tests
diff --git a/test/landoff_tracker/takeoff_landing/test.cpp b/test/landoff_tracker/takeoff_landing/test.cpp
@@ -10,10 +10,23 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   // | ------------------------- takeoff ------------------------ |
 
   {
-    auto [success, message] = takeoff();
+    auto [success, message] = uh->takeoff();
 
     if (!success) {
       ROS_ERROR("[%s]: takeoff failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -23,15 +36,15 @@ bool Tester::test() {
 
   this->sleep(1.0);
 
-  if (!this->isFlyingNormally()) {
+  if (!uh->isFlyingNormally()) {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
     return false;
   }
 
   // | --------------------- goto somewhere --------------------- |
 
   {
-    auto [success, message] = gotoRel(10, 1, 2, 1.5);
+    auto [success, message] = uh->gotoRel(10, 1, 2, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -41,15 +54,15 @@ bool Tester::test() {
 
   this->sleep(1.0);
 
-  if (!this->isFlyingNormally()) {
+  if (!uh->isFlyingNormally()) {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
     return false;
   }
 
   // | -------------------------- land -------------------------- |
 
   {
-    auto [success, message] = land();
+    auto [success, message] = uh->land();
 
     if (!success) {
       ROS_ERROR("[%s]: landing failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());

diff --git a/test/line_tracker/line_tracker_goto/test.cpp b/test/line_tracker/line_tracker_goto/test.cpp
@@ -10,22 +10,35 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
       return false;
     }
   }
 
-  if (this->getActiveTracker() != "LineTracker") {
+  if (uh->getActiveTracker() != "LineTracker") {
     ROS_ERROR("[%s]: LineTracker is not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 1, 2, 1.5);
+    auto [success, message] = uh->gotoRel(10, 1, 2, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());

diff --git a/test/mpc_tracker/mpc_tracker_goto/test.cpp b/test/mpc_tracker/mpc_tracker_goto/test.cpp
@@ -10,22 +10,35 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
       return false;
     }
   }
 
-  if (this->getActiveTracker() != "MpcTracker") {
+  if (uh->getActiveTracker() != "MpcTracker") {
     ROS_ERROR("[%s]: MpcTracker is not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 1, 2, 1.5);
+    auto [success, message] = uh->gotoRel(10, 1, 2, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());